Real-Time Evaluation of an Ultra-Tight GNSS/INS Integration Based on Adaptive PLL Bandwidth

Abstract: In this contribution, we propose a GNSS/INS ultra-tight coupling in which the GNSS receiver architecture is based on a vector tracking loop type architecture. In the proposed approach, the phase lock loop bandwidth is adapted according to the inertial navigation system information. The latter has the advantage to be easily implementable on a System-on-Chip component such as an FPGA (Field-Programmable Gate Arrays), and can be implemented with minor modifications on an existing GNSS receiver platform. Moreover, compared to classical vector-based solutions, the proposed architecture decodes the navigation message in the loop, without the need to run scalar loops in parallel or having to store pre-downloaded ephemeris data. This architecture therefore does not increase the area occupied on the FPGA and does not use additional resources for storage. The proposed GNSS receiver architecture uses GPS L1/C and Galileo E1 signals and is composed of one acquisition module and 16 tracking channels (8 GPS and 8 Galileo) which are implemented within a FPGA (Zynq-Ultrascale).